CN105993041B - 自身位置计算装置以及自身位置计算方法 - Google Patents

自身位置计算装置以及自身位置计算方法 Download PDF

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Publication number
CN105993041B
CN105993041B CN201480075546.1A CN201480075546A CN105993041B CN 105993041 B CN105993041 B CN 105993041B CN 201480075546 A CN201480075546 A CN 201480075546A CN 105993041 B CN105993041 B CN 105993041B
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China
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vehicle
attitude angle
road surface
self
pavement state
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Chinese (zh)
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CN105993041A (zh
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山口郎
山口一郎
西内秀和
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Nissan Motor Co Ltd
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Nissan Motor Co Ltd
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30244—Camera pose
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

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  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Automation & Control Theory (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Image Processing (AREA)
  • Traffic Control Systems (AREA)
  • Image Analysis (AREA)
CN201480075546.1A 2014-02-24 2014-02-24 自身位置计算装置以及自身位置计算方法 Active CN105993041B (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2014/054313 WO2015125298A1 (ja) 2014-02-24 2014-02-24 自己位置算出装置及び自己位置算出方法

Publications (2)

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CN105993041A CN105993041A (zh) 2016-10-05
CN105993041B true CN105993041B (zh) 2017-10-31

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US (1) US9721170B2 (es)
EP (1) EP3113146B1 (es)
JP (1) JP6237876B2 (es)
CN (1) CN105993041B (es)
BR (1) BR112016019548B1 (es)
MX (1) MX349024B (es)
RU (1) RU2621823C1 (es)
WO (1) WO2015125298A1 (es)

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EP3113147B1 (en) * 2014-02-24 2018-11-28 Nissan Motor Co., Ltd Self-location calculating device and self-location calculating method
JP6406289B2 (ja) * 2016-03-14 2018-10-17 オムロン株式会社 路面形状測定装置、測定方法、及び、プログラム
JP6707378B2 (ja) * 2016-03-25 2020-06-10 本田技研工業株式会社 自己位置推定装置および自己位置推定方法
CN109564098B (zh) * 2016-07-26 2020-07-14 日产自动车株式会社 自身位置推定方法及自身位置推定装置
US9896107B1 (en) * 2016-09-30 2018-02-20 Denso International America, Inc. Digital lane change confirmation projection systems and methods
JP6838340B2 (ja) * 2016-09-30 2021-03-03 アイシン精機株式会社 周辺監視装置
CN107063228B (zh) * 2016-12-21 2020-09-04 上海交通大学 基于双目视觉的目标姿态解算方法
JP6916091B2 (ja) * 2017-11-10 2021-08-11 株式会社デンソーアイティーラボラトリ 位置姿勢推定システム及び位置姿勢推定装置
JP7198005B2 (ja) * 2018-07-02 2022-12-28 株式会社Subaru 自車位置検出装置
US20220017489A1 (en) 2018-11-02 2022-01-20 Celgene Corporation Solid dispersions for treatment of cancer
US20220017490A1 (en) 2018-11-02 2022-01-20 Celgene Corporation Co-crystals of 2-methyl-1 -[(4-[6-(trifluoromethyl)pyridin-2-yl]-6-{[2-(trifluoromethyl) pyridin-4-yl]amino}-1,3,5-triazin-2-yl)amino]propan-2-ol, compositions and methods of use thereof
US20210403452A1 (en) 2018-11-02 2021-12-30 Celgene Corporation Solid forms of 2-methyl-1-[(4-[6-(trifluoromethyl) pyridin-2-yl]-6-{[2-(trifluoromethyl)pyridin-4-yl]amino}-1,3,5-triazin-2-yl) amino]propan-2-ol
JP7171425B2 (ja) * 2018-12-27 2022-11-15 フォルシアクラリオン・エレクトロニクス株式会社 移動量推定装置
EP3905213B1 (en) * 2018-12-28 2023-04-26 Panasonic Intellectual Property Management Co., Ltd. Positioning apparatus and moving body
US11900679B2 (en) * 2019-11-26 2024-02-13 Objectvideo Labs, Llc Image-based abnormal event detection
CN111862474B (zh) * 2020-05-20 2022-09-20 北京骑胜科技有限公司 共享车辆处理方法、装置、设备及计算机可读存储介质
CN116252581B (zh) * 2023-03-15 2024-01-16 吉林大学 直线行驶工况车身垂向及俯仰运动信息估算系统及方法

Citations (5)

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JPH06325298A (ja) * 1993-05-13 1994-11-25 Yazaki Corp 車両周辺監視装置
JP2010101683A (ja) * 2008-10-22 2010-05-06 Nissan Motor Co Ltd 距離計測装置および距離計測方法
CN103154666A (zh) * 2011-06-14 2013-06-12 日产自动车株式会社 距离测量装置以及环境地图生成装置
CN103403779A (zh) * 2011-03-04 2013-11-20 日立汽车系统株式会社 车载摄像机和车载摄像机系统
CN103512548A (zh) * 2012-06-18 2014-01-15 佳能株式会社 距离测量装置及距离测量方法

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JP2901112B2 (ja) 1991-09-19 1999-06-07 矢崎総業株式会社 車両周辺監視装置
RU2247921C2 (ru) * 2002-06-26 2005-03-10 Анцыгин Александр Витальевич Способ ориентирования на местности и устройство для его осуществления
JP2004198212A (ja) * 2002-12-18 2004-07-15 Aisin Seiki Co Ltd 移動体周辺監視装置
JP2004198211A (ja) 2002-12-18 2004-07-15 Aisin Seiki Co Ltd 移動体周辺監視装置
JP5151050B2 (ja) * 2006-03-23 2013-02-27 日産自動車株式会社 車両用環境認識装置及び車両用環境認識方法
JP4914726B2 (ja) 2007-01-19 2012-04-11 クラリオン株式会社 現在位置算出装置、現在位置算出方法
JP2013147114A (ja) * 2012-01-18 2013-08-01 Toyota Motor Corp 周辺環境取得装置およびサスペンション制御装置
JP5992184B2 (ja) * 2012-03-09 2016-09-14 株式会社トプコン 画像データ処理装置、画像データ処理方法および画像データ処理用のプログラム
CN104541128B (zh) * 2012-08-02 2017-10-17 丰田自动车株式会社 路面状态取得装置及悬架系统

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06325298A (ja) * 1993-05-13 1994-11-25 Yazaki Corp 車両周辺監視装置
JP2010101683A (ja) * 2008-10-22 2010-05-06 Nissan Motor Co Ltd 距離計測装置および距離計測方法
CN103403779A (zh) * 2011-03-04 2013-11-20 日立汽车系统株式会社 车载摄像机和车载摄像机系统
CN103154666A (zh) * 2011-06-14 2013-06-12 日产自动车株式会社 距离测量装置以及环境地图生成装置
CN103512548A (zh) * 2012-06-18 2014-01-15 佳能株式会社 距离测量装置及距离测量方法

Also Published As

Publication number Publication date
EP3113146A1 (en) 2017-01-04
RU2621823C1 (ru) 2017-06-07
BR112016019548A2 (pt) 2017-08-15
WO2015125298A1 (ja) 2015-08-27
JPWO2015125298A1 (ja) 2017-03-30
MX2016010742A (es) 2016-10-26
MX349024B (es) 2017-07-07
CN105993041A (zh) 2016-10-05
EP3113146A4 (en) 2017-05-03
BR112016019548B1 (pt) 2022-01-11
EP3113146B1 (en) 2018-07-04
US9721170B2 (en) 2017-08-01
JP6237876B2 (ja) 2017-11-29
US20170024617A1 (en) 2017-01-26

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